current limits

src/main/java/frc4388/robot/Constants.java

@@ -4,6 +4,7 @@
 
 package frc4388.robot;
 
+import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
 import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
 
 import edu.wpi.first.math.controller.PIDController;
@@ -129,6 +130,10 @@ public final class Constants {
     // CAN IDs
     public static final int INTAKE_MOTOR = 15;
     public static final int EXTENDER_MOTOR = 16;
+    public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE = new SupplyCurrentLimitConfiguration(
+        false, 10, 0, 0); //Find
+    public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_INTAKE = new StatorCurrentLimitConfiguration(
+        false, 15, 0, 0);
   }
   public static final class StorageConstants {
     public static final int STORAGE_CAN_ID = 18;
@@ -160,8 +165,10 @@ public final class Constants {
     public static final int SHOOTER_TIMEOUT_MS = 32;
     public static final int SHOOTER_SLOT_IDX = 0;
     public static final int SHOOTER_PID_LOOP_IDX = 1;
-    public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(
-        true, 60, 40, 0.5);
+    public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER = new SupplyCurrentLimitConfiguration(
+        true, 10, 0, 0);
+    public static final StatorCurrentLimitConfiguration STATOR_CURRENT_LIMIT_CONFIG_SHOOTER = new StatorCurrentLimitConfiguration(
+        true, 27, 0, 0);
     public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
     public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
     public static final double TURRET_SPEED_MULTIPLIER = 0.4d;

src/main/java/frc4388/robot/Robot.java

@@ -43,6 +43,7 @@ public class Robot extends TimedRobot {
   private SendableChooser<Pose2d> odoChooser = new SendableChooser<Pose2d>();
   private HashMap<String, Pose2d> odoChoices = new HashMap<>();
   private Pose2d selectedOdo;
+  private double current;
 
   /**
    * This function is run when the robot is first started up and should be
@@ -130,6 +131,16 @@ public class Robot extends TimedRobot {
     m_robotTime.updateTimes();
     SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
     SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
+    current = 
+      m_robotContainer.m_robotBoomBoom.getCurrent() +
+      m_robotContainer.m_robotClimber.getCurrent() +
+      m_robotContainer.m_robotHood.getCurrent() +
+      m_robotContainer.m_robotIntake.getCurrent() +
+      m_robotContainer.m_robotSerializer.getCurrent() +
+      m_robotContainer.m_robotStorage.getCurrent() +
+      m_robotContainer.m_robotSwerveDrive.getCurrent() +
+      m_robotContainer.m_robotTurret.getCurrent();
+    SmartDashboard.putNumber("Total Robot Current Draw", current);
     // Runs the Scheduler. This is responsible for polling buttons, adding
     // newly-scheduled
     // commands, running already-scheduled commands, removing finished or

src/main/java/frc4388/robot/RobotContainer.java

@@ -107,7 +107,7 @@ public class RobotContainer {
   
   private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
   private final WPI_TalonFX testSoulderMotor = new WPI_TalonFX(31);
-  private final Climber m_robotClimber = new Climber(testElbowMotor);
+  public final Climber m_robotClimber = new Climber(testElbowMotor);
   /* Controllers */
   private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
   private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);

src/main/java/frc4388/robot/RobotMap.java

@@ -16,6 +16,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.networktables.NetworkTableType;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.IntakeConstants;
@@ -186,7 +187,9 @@ public class RobotMap {
         ShooterConstants.SHOOTER_TIMEOUT_MS);
     shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
         ShooterConstants.SHOOTER_TIMEOUT_MS);
-    shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
+    shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
         ShooterConstants.SHOOTER_TIMEOUT_MS);
 
     // RIGHT FALCON
@@ -201,7 +204,9 @@ public class RobotMap {
         ShooterConstants.SHOOTER_TIMEOUT_MS);
     shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
         ShooterConstants.SHOOTER_TIMEOUT_MS);
-    shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
+    shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
         ShooterConstants.SHOOTER_TIMEOUT_MS);
 
     shooterFalconRight.follow(shooterFalconLeft);
@@ -230,6 +235,15 @@ public class RobotMap {
   public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
   public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
 
+  void configureIntakeMotors(){
+    intakeMotor.configFactoryDefault();
+    intakeMotor.setNeutralMode(NeutralMode.Coast);
+    intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+
   /* Storage Subsystem */
   public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
 //   public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);

src/main/java/frc4388/robot/subsystems/BoomBoom.java

@@ -180,6 +180,8 @@ public class BoomBoom extends SubsystemBase {
   public void runDrumShooter(double speed) {
     m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
     SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
+    SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
+    SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());
 
   }
 
@@ -208,4 +210,8 @@ public class BoomBoom extends SubsystemBase {
   {
     speed2 = speed2 + amount;
   }
+
+  public double getCurrent(){
+    return m_shooterFalconLeft.getSupplyCurrent() + m_shooterFalconRight.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Climber.java

@@ -23,4 +23,8 @@ public class Climber extends SubsystemBase {
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+  public double getCurrent() {
+    return m_climberElbow.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Hood.java

@@ -95,4 +95,8 @@ public double m_fireAngle;
   public double getAnglePositionDegrees(){
     return 0.0;//((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
   }
+
+  public double getCurrent(){
+    return m_angleAdjusterMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxLimitSwitch;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
 
@@ -52,6 +53,8 @@ public class Intake extends SubsystemBase {
    */
   public void runWithTriggers(double leftTrigger, double rightTrigger) {
     m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
+    SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
+    SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
   }
   /**
    * Runs The Extender-
@@ -74,4 +77,8 @@ public class Intake extends SubsystemBase {
     toggle = !toggle;
     runExtender(toggle);
   }
+
+  public double getCurrent(){
+    return m_intakeMotor.getSupplyCurrent() + m_extenderMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/LED.java

@@ -57,4 +57,5 @@ public class LED extends SubsystemBase {
   public LEDPatterns getPattern() {
     return m_currentPattern;
   }
+
 }

src/main/java/frc4388/robot/subsystems/Serializer.java

@@ -48,4 +48,7 @@ public class Serializer extends SubsystemBase{
   public boolean getSerializerState() {
     return serializerState;
   }
+  public double getCurrent(){
+    return m_serializerBelt.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -65,4 +65,7 @@ public class Storage extends SubsystemBase {
   public void periodic() {
     //manageStorage();
   }
+  public double getCurrent(){
+    return m_storageMotor.getOutputCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -258,4 +258,8 @@ public class SwerveDrive extends SubsystemBase {
       speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
     }
   }
+
+  public double getCurrent(){
+    return m_leftFront.getCurrent() + m_rightFront.getCurrent() + m_rightBack.getCurrent() + m_leftBack.getCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/SwerveModule.java

@@ -120,7 +120,7 @@ public class SwerveModule extends SubsystemBase {
     double desiredTicks = currentTicks + deltaTicks;
 
     if (!ignoreAngle) {
-      
+
       angleMotor.set(TalonFXControlMode.Position, desiredTicks);
     }
 
@@ -192,5 +192,7 @@ public class SwerveModule extends SubsystemBase {
     canCoder.setPositionToAbsolute();
     // canCoder.configSensorInitializationStrategy(initializationStrategy)
   }
-
+  public double getCurrent(){
+    return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
+  }
 }

src/main/java/frc4388/robot/subsystems/Turret.java

@@ -109,4 +109,8 @@ public class Turret extends SubsystemBase {
         / ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
   }
 
+  public double getCurrent(){
+    return m_boomBoomRotateMotor.getOutputCurrent();
+  }
+
 }